Send button state to CAN

.clang-format

@@ -0,0 +1,137 @@
+---
+Language: Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: false
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+  AfterEnum: false
+  AfterFunction: false
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+  AfterObjCDeclaration: false
+  AfterStruct: false
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+  AfterExternBlock: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit: 80
+CommentPragmas: "^ IWYU pragma:"
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Regroup
+IncludeCategories:
+  - Regex: '^[<"]stm'
+    Priority: 2
+    SortPriority: 0
+  - Regex: "^<std"
+    Priority: 4
+    SortPriority: 0
+  - Regex: ".*"
+    Priority: 1
+    SortPriority: 0
+IncludeIsMainRegex: "(Test)?$"
+IncludeIsMainSourceRegex: ""
+IndentCaseLabels: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard: Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth: 8
+UseCRLF: false
+UseTab: Never
+---
+

.editorconfig

@@ -0,0 +1,8 @@
+[*]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+
+[*.{h,c}]
+indent_style = space
+indent_size = 2

.gitignore

@@ -1,3 +1,3 @@
 build/
 .cache/
-.vscode/
+.vscode/

Core/Inc/events.h

@@ -42,7 +42,7 @@ typedef struct {
  * The event is deep-copied to the queue, so it can be deallocated after the
  * call is complete.
  */
-void event_push(Event *ev);
+void event_push(Event* ev);
 /**
  * @brief Pop an event from the start of the queue.
  *
@@ -57,4 +57,4 @@ uint16_t event_num_free();
 
 void handle_events();
 
-#endif // __EVENTS_H
+#endif // __EVENTS_H

Core/Inc/leds.h

@@ -0,0 +1,8 @@
+#ifndef __LEDS_H
+#define __LEDS_H
+
+#include "stm32g4xx_hal.h"
+
+void leds_init(TIM_HandleTypeDef* timer);
+
+#endif // __LEDS_H

Core/Inc/main.h

@@ -1,106 +1,108 @@
-/* USER CODE BEGIN Header */
+/* USER CODE BEGIN Header */
-/**
+/**
-  ******************************************************************************
+ ******************************************************************************
-  * @file           : main.h
+ * @file           : main.h
-  * @brief          : Header for main.c file.
+ * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
+ *                   This file contains the common defines of the application.
-  ******************************************************************************
+ ******************************************************************************
-  * @attention
+ * @attention
-  *
+ *
-  * Copyright (c) 2022 STMicroelectronics.
+ * Copyright (c) 2022 STMicroelectronics.
-  * All rights reserved.
+ * All rights reserved.
-  *
+ *
-  * This software is licensed under terms that can be found in the LICENSE file
+ * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
+ * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
+ *
-  ******************************************************************************
+ ******************************************************************************
-  */
+ */
-/* USER CODE END Header */
+/* USER CODE END Header */
-
+
-/* Define to prevent recursive inclusion -------------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
+#ifndef __MAIN_H
-#define __MAIN_H
+#define __MAIN_H
-
+
-#ifdef __cplusplus
+#ifdef __cplusplus
-extern "C" {
+extern "C" {
-#endif
+#endif
-
+
-/* Includes ------------------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
-#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal.h"
-
+
-/* Private includes ----------------------------------------------------------*/
+/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
+/* USER CODE BEGIN Includes */
-
+
-/* USER CODE END Includes */
+/* USER CODE END Includes */
-
+
-/* Exported types ------------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
+/* USER CODE BEGIN ET */
-
+
-/* USER CODE END ET */
+/* USER CODE END ET */
-
+
-/* Exported constants --------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
+/* USER CODE BEGIN EC */
-
+#define MAIN_LOOP_PERIOD 50 /* ms */
-/* USER CODE END EC */
+/* USER CODE END EC */
-
+
-/* Exported macro ------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
+/* USER CODE BEGIN EM */
-
+
-/* USER CODE END EM */
+/* USER CODE END EM */
-
+
-/* Exported functions prototypes ---------------------------------------------*/
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
-void Error_Handler(void);
+
-
+/* Exported functions prototypes ---------------------------------------------*/
-/* USER CODE BEGIN EFP */
+void Error_Handler(void);
-
+
-/* USER CODE END EFP */
+/* USER CODE BEGIN EFP */
-
+
-/* Private defines -----------------------------------------------------------*/
+/* USER CODE END EFP */
-#define TOP_PWM_Pin GPIO_PIN_0
+
-#define TOP_PWM_GPIO_Port GPIOA
+/* Private defines -----------------------------------------------------------*/
-#define LOGO_PWM_Pin GPIO_PIN_1
+#define TOP_PWM_Pin GPIO_PIN_0
-#define LOGO_PWM_GPIO_Port GPIOA
+#define TOP_PWM_GPIO_Port GPIOA
-#define LED_ICLK_Pin GPIO_PIN_2
+#define LOGO_PWM_Pin GPIO_PIN_1
-#define LED_ICLK_GPIO_Port GPIOA
+#define LOGO_PWM_GPIO_Port GPIOA
-#define LED_OCLK_Pin GPIO_PIN_3
+#define LED_ICLK_Pin GPIO_PIN_2
-#define LED_OCLK_GPIO_Port GPIOA
+#define LED_ICLK_GPIO_Port GPIOA
-#define LED_NCLR_Pin GPIO_PIN_4
+#define LED_OCLK_Pin GPIO_PIN_3
-#define LED_NCLR_GPIO_Port GPIOA
+#define LED_OCLK_GPIO_Port GPIOA
-#define LED_SER_Pin GPIO_PIN_5
+#define LED_NCLR_Pin GPIO_PIN_4
-#define LED_SER_GPIO_Port GPIOA
+#define LED_NCLR_GPIO_Port GPIOA
-#define LED_NOE_Pin GPIO_PIN_6
+#define LED_SER_Pin GPIO_PIN_5
-#define LED_NOE_GPIO_Port GPIOA
+#define LED_SER_GPIO_Port GPIOA
-#define V_POT_Pin GPIO_PIN_11
+#define LED_NOE_Pin GPIO_PIN_6
-#define V_POT_GPIO_Port GPIOB
+#define LED_NOE_GPIO_Port GPIOA
-#define BTN0_Pin GPIO_PIN_12
+#define V_POT_Pin GPIO_PIN_11
-#define BTN0_GPIO_Port GPIOB
+#define V_POT_GPIO_Port GPIOB
-#define BTN0_EXTI_IRQn EXTI15_10_IRQn
+#define BTN0_Pin GPIO_PIN_12
-#define BTN1_Pin GPIO_PIN_13
+#define BTN0_GPIO_Port GPIOB
-#define BTN1_GPIO_Port GPIOB
+#define BTN0_EXTI_IRQn EXTI15_10_IRQn
-#define BTN1_EXTI_IRQn EXTI15_10_IRQn
+#define BTN1_Pin GPIO_PIN_13
-#define BTN2_Pin GPIO_PIN_14
+#define BTN1_GPIO_Port GPIOB
-#define BTN2_GPIO_Port GPIOB
+#define BTN1_EXTI_IRQn EXTI15_10_IRQn
-#define BTN2_EXTI_IRQn EXTI15_10_IRQn
+#define BTN2_Pin GPIO_PIN_14
-#define BTN3_Pin GPIO_PIN_15
+#define BTN2_GPIO_Port GPIOB
-#define BTN3_GPIO_Port GPIOB
+#define BTN2_EXTI_IRQn EXTI15_10_IRQn
-#define BTN3_EXTI_IRQn EXTI15_10_IRQn
+#define BTN3_Pin GPIO_PIN_15
-#define DISP_RESET_Pin GPIO_PIN_15
+#define BTN3_GPIO_Port GPIOB
-#define DISP_RESET_GPIO_Port GPIOA
+#define BTN3_EXTI_IRQn EXTI15_10_IRQn
-#define ENC0A_Pin GPIO_PIN_4
+#define DISP_RESET_Pin GPIO_PIN_15
-#define ENC0A_GPIO_Port GPIOB
+#define DISP_RESET_GPIO_Port GPIOA
-#define ENC0B_Pin GPIO_PIN_5
+#define ENC0A_Pin GPIO_PIN_4
-#define ENC0B_GPIO_Port GPIOB
+#define ENC0A_GPIO_Port GPIOB
-#define ENC1A_Pin GPIO_PIN_6
+#define ENC0B_Pin GPIO_PIN_5
-#define ENC1A_GPIO_Port GPIOB
+#define ENC0B_GPIO_Port GPIOB
-#define ENC1B_Pin GPIO_PIN_7
+#define ENC1A_Pin GPIO_PIN_6
-#define ENC1B_GPIO_Port GPIOB
+#define ENC1A_GPIO_Port GPIOB
-/* USER CODE BEGIN Private defines */
+#define ENC1B_Pin GPIO_PIN_7
-
+#define ENC1B_GPIO_Port GPIOB
-/* USER CODE END Private defines */
+/* USER CODE BEGIN Private defines */
-
+#define TOP_PWM_TIM_CHANNEL TIM_CHANNEL_1
-#ifdef __cplusplus
+/* USER CODE END Private defines */
-}
+
-#endif
+#ifdef __cplusplus
-
+}
-#endif /* __MAIN_H */
+#endif
+
+#endif /* __MAIN_H */

Core/Inc/rpi.h

@@ -25,7 +25,7 @@ extern RPiI2CState rpi_i2c_state;
 
 extern size_t rpi_num_polls;
 
-void rpi_init(I2C_HandleTypeDef *handle);
+void rpi_init(I2C_HandleTypeDef* handle);
 
 void rpi_update_tx_buffer();
 void rpi_update_tx_buffer_mission_select();

Core/Inc/stm32g4xx_hal_conf.h

@@ -62,7 +62,7 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 /*#define HAL_UART_MODULE_ENABLED   */
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */

Core/Inc/stm32g4xx_it.h

@@ -55,6 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void FDCAN1_IT0_IRQHandler(void);
 void I2C2_EV_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Inc/user_inputs.h

@@ -2,10 +2,25 @@
 #define __FT_USER_INPUTS_H
 
 #include "events.h"
+
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
 
-void handle_button_press(const ButtonPressEvent *ev);
+typedef struct {
+  GPIO_PinState left;
+  GPIO_PinState right;
+  GPIO_PinState r2d;
+  GPIO_PinState enter;
+  GPIO_PinState enc0a;
+  GPIO_PinState enc0b;
+  GPIO_PinState enc1a;
+  GPIO_PinState enc1b;
+} ButtonsState;
 
-void handle_button_press_mission_select(const ButtonPressEvent *ev);
+ButtonsState get_buttons_state();
 
-#endif // __FT_USER_INPUTS_H
+void handle_button_press(const ButtonPressEvent* ev);
+
+void handle_button_press_mission_select(const ButtonPressEvent* ev);
+
+#endif // __FT_USER_INPUTS_H

Core/Inc/vehicle.h

@@ -0,0 +1,24 @@
+#ifndef __VEHICLE_H
+#define __VEHICLE_H
+
+#include "state.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_def.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+#define CAN_ID_MISSION_SELECT 0x400
+#define CAN_ID_BUTTONS 0x401
+#define CAN_ID_AS_MISSION_FB 0x410
+
+#define CAN_BUTTONS_LEFT (1 << 0)
+#define CAN_BUTTONS_RIGHT (1 << 1)
+#define CAN_BUTTONS_R2D (1 << 2)
+#define CAN_BUTTONS_ENTER (1 << 3)
+
+void vehicle_init(FDCAN_HandleTypeDef* handle);
+
+HAL_StatusTypeDef vehicle_send_mission_select(Mission mission);
+HAL_StatusTypeDef vehicle_send_buttons();
+
+#endif // __VEHICLE_H

Core/Src/events.c

@@ -1,11 +1,13 @@
 #include "events.h"
+
 #include "main.h"
 #include "user_inputs.h"
+
 #include <stdint.h>
 
 static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
 
-void event_push(Event *ev) {
+void event_push(Event* ev) {
   if (event_num_free() == 0) {
     // TODO: How do we handle this?
     return;
@@ -61,4 +63,4 @@ void handle_events() {
       Error_Handler();
     }
   }
-}
+}

Core/Src/leds.c

@@ -0,0 +1,33 @@
+#include "leds.h"
+
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+#include "stm32g4xx_hal_tim.h"
+
+void leds_init(TIM_HandleTypeDef* timer) {
+  if (HAL_TIM_PWM_Start(timer, TOP_PWM_TIM_CHANNEL) != HAL_OK) {
+    Error_Handler();
+  }
+
+  HAL_GPIO_WritePin(LED_NOE_GPIO_Port, LED_NOE_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(LED_NCLR_GPIO_Port, LED_NCLR_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
+  HAL_Delay(10);
+
+  for (int i = 0; i < 12; i++) {
+    GPIO_PinState state = GPIO_PIN_RESET;
+    HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, state);
+    HAL_Delay(5);
+    HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_SET);
+    HAL_Delay(10);
+    HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
+    HAL_Delay(10);
+  }
+
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET);
+  HAL_Delay(10);
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
+}

Core/Src/main.c

@@ -1,391 +1,457 @@
-/* USER CODE BEGIN Header */
+/* USER CODE BEGIN Header */
-/**
+/**
- ******************************************************************************
+ ******************************************************************************
- * @file           : main.c
+ * @file           : main.c
- * @brief          : Main program body
+ * @brief          : Main program body
- ******************************************************************************
+ ******************************************************************************
- * @attention
+ * @attention
- *
+ *
- * Copyright (c) 2022 STMicroelectronics.
+ * Copyright (c) 2022 STMicroelectronics.
- * All rights reserved.
+ * All rights reserved.
- *
+ *
- * This software is licensed under terms that can be found in the LICENSE file
+ * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
+ * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
- *
+ *
- ******************************************************************************
+ ******************************************************************************
- */
+ */
-/* USER CODE END Header */
+/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
-#include "main.h"
+#include "main.h"
-
+
-/* Private includes ----------------------------------------------------------*/
+/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
+/* USER CODE BEGIN Includes */
-#include "events.h"
+#include "events.h"
-#include "rpi.h"
+#include "leds.h"
-#include "state.h"
+#include "rpi.h"
-
+#include "state.h"
-#include "stm32g4xx_hal.h"
+#include "vehicle.h"
-#include "stm32g4xx_hal_gpio.h"
+
-
+#include "stm32g4xx_hal.h"
-#include <stdint.h>
+#include "stm32g4xx_hal_gpio.h"
-
+#include "stm32g4xx_hal_tim.h"
-/* USER CODE END Includes */
+
-
+#include <stdint.h>
-/* Private typedef -----------------------------------------------------------*/
+
-/* USER CODE BEGIN PTD */
+/* USER CODE END Includes */
-
+
-/* USER CODE END PTD */
+/* Private typedef -----------------------------------------------------------*/
-
+/* USER CODE BEGIN PTD */
-/* Private define ------------------------------------------------------------*/
+
-/* USER CODE BEGIN PD */
+/* USER CODE END PTD */
-/* USER CODE END PD */
+
-
+/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
-/* USER CODE BEGIN PM */
+/* USER CODE END PD */
-
+
-/* USER CODE END PM */
+/* Private macro -------------------------------------------------------------*/
-
+/* USER CODE BEGIN PM */
-/* Private variables ---------------------------------------------------------*/
+
-ADC_HandleTypeDef hadc1;
+/* USER CODE END PM */
-
+
-FDCAN_HandleTypeDef hfdcan1;
+/* Private variables ---------------------------------------------------------*/
-
+ADC_HandleTypeDef hadc1;
-I2C_HandleTypeDef hi2c2;
+
-
+FDCAN_HandleTypeDef hfdcan1;
-/* USER CODE BEGIN PV */
+
-
+I2C_HandleTypeDef hi2c2;
-/* USER CODE END PV */
+
-
+TIM_HandleTypeDef htim2;
-/* Private function prototypes -----------------------------------------------*/
+
-void SystemClock_Config(void);
+/* USER CODE BEGIN PV */
-static void MX_GPIO_Init(void);
+
-static void MX_ADC1_Init(void);
+/* USER CODE END PV */
-static void MX_FDCAN1_Init(void);
+
-static void MX_I2C2_Init(void);
+/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN PFP */
+void SystemClock_Config(void);
-
+static void MX_GPIO_Init(void);
-/* USER CODE END PFP */
+static void MX_ADC1_Init(void);
-
+static void MX_FDCAN1_Init(void);
-/* Private user code ---------------------------------------------------------*/
+static void MX_I2C2_Init(void);
-/* USER CODE BEGIN 0 */
+static void MX_TIM2_Init(void);
-
+/* USER CODE BEGIN PFP */
-/* USER CODE END 0 */
+
-
+/* USER CODE END PFP */
-/**
+
- * @brief  The application entry point.
+/* Private user code ---------------------------------------------------------*/
- * @retval int
+/* USER CODE BEGIN 0 */
- */
+void loop_delay() {
-int main(void) {
+  static uint32_t last_loop = 0;
-  /* USER CODE BEGIN 1 */
+  int32_t diff = MAIN_LOOP_PERIOD - (HAL_GetTick() - last_loop);
-
+  if (diff > 0) {
-  /* USER CODE END 1 */
+    HAL_Delay(diff);
-
+  }
-  /* MCU Configuration--------------------------------------------------------*/
+  last_loop = HAL_GetTick();
-
+}
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
+/* USER CODE END 0 */
-   */
+
-  HAL_Init();
+/**
-
+ * @brief  The application entry point.
-  /* USER CODE BEGIN Init */
+ * @retval int
-
+ */
-  /* USER CODE END Init */
+int main(void) {
-
+  /* USER CODE BEGIN 1 */
-  /* Configure the system clock */
+
-  SystemClock_Config();
+  /* USER CODE END 1 */
-
+
-  /* USER CODE BEGIN SysInit */
+  /* MCU Configuration--------------------------------------------------------*/
-
+
-  /* USER CODE END SysInit */
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
-
+   */
-  /* Initialize all configured peripherals */
+  HAL_Init();
-  MX_GPIO_Init();
+
-  MX_ADC1_Init();
+  /* USER CODE BEGIN Init */
-  MX_FDCAN1_Init();
+
-  MX_I2C2_Init();
+  /* USER CODE END Init */
-  /* USER CODE BEGIN 2 */
+
-  state_init();
+  /* Configure the system clock */
-  rpi_init(&hi2c2);
+  SystemClock_Config();
-  /* USER CODE END 2 */
+
-
+  /* USER CODE BEGIN SysInit */
-  /* Infinite loop */
+
-  /* USER CODE BEGIN WHILE */
+  /* USER CODE END SysInit */
-  uint32_t rpi_active_since = 0;
+
-  while (1) {
+  /* Initialize all configured peripherals */
-    /* USER CODE END WHILE */
+  MX_GPIO_Init();
-
+  MX_ADC1_Init();
-    /* USER CODE BEGIN 3 */
+  MX_FDCAN1_Init();
-    uint32_t now = HAL_GetTick();
+  MX_I2C2_Init();
-    if (now < 1000) {
+  MX_TIM2_Init();
-      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
+  /* USER CODE BEGIN 2 */
-    } else {
+  leds_init(&htim2);
-      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
+  state_init();
-    }
+  vehicle_init(&hfdcan1);
-    handle_events();
+  rpi_init(&hi2c2);
-  }
+  /* USER CODE END 2 */
-  /* USER CODE END 3 */
+
-}
+  /* Infinite loop */
-
+  /* USER CODE BEGIN WHILE */
-/**
+  uint32_t last_can = 0;
- * @brief System Clock Configuration
+  while (1) {
- * @retval None
+    /* USER CODE END WHILE */
- */
+
-void SystemClock_Config(void) {
+    /* USER CODE BEGIN 3 */
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+    uint32_t now = HAL_GetTick();
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+    if (now < 1000) {
-
+      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
-  /** Configure the main internal regulator output voltage
+    } else {
-   */
+      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
-  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
+    }
-
+    handle_events();
-  /** Initializes the RCC Oscillators according to the specified parameters
+    vehicle_send_buttons();
-   * in the RCC_OscInitTypeDef structure.
+    loop_delay();
-   */
+  }
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  /* USER CODE END 3 */
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+}
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+/**
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+ * @brief System Clock Configuration
-    Error_Handler();
+ * @retval None
-  }
+ */
-
+void SystemClock_Config(void) {
-  /** Initializes the CPU, AHB and APB buses clocks
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-   */
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
+
-                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+  /** Configure the main internal regulator output voltage
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+   */
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+  /** Initializes the RCC Oscillators according to the specified parameters
-
+   * in the RCC_OscInitTypeDef structure.
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
+   */
-    Error_Handler();
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-  }
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-}
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-/**
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
- * @brief ADC1 Initialization Function
+  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
- * @param None
+  RCC_OscInitStruct.PLL.PLLN = 10;
- * @retval None
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
- */
+  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
-static void MX_ADC1_Init(void) {
+  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
-
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
-  /* USER CODE BEGIN ADC1_Init 0 */
+    Error_Handler();
-
+  }
-  /* USER CODE END ADC1_Init 0 */
+
-
+  /** Initializes the CPU, AHB and APB buses clocks
-  ADC_MultiModeTypeDef multimode = {0};
+   */
-  ADC_ChannelConfTypeDef sConfig = {0};
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
-
+                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-  /* USER CODE BEGIN ADC1_Init 1 */
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  /* USER CODE END ADC1_Init 1 */
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
-
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
-  /** Common config
+
-   */
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
-  hadc1.Instance = ADC1;
+    Error_Handler();
-  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
+  }
-  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+}
-  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+
-  hadc1.Init.GainCompensation = 0;
+/**
-  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+ * @brief ADC1 Initialization Function
-  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+ * @param None
-  hadc1.Init.LowPowerAutoWait = DISABLE;
+ * @retval None
-  hadc1.Init.ContinuousConvMode = DISABLE;
+ */
-  hadc1.Init.NbrOfConversion = 1;
+static void MX_ADC1_Init(void) {
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
+
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  /* USER CODE BEGIN ADC1_Init 0 */
-  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+
-  hadc1.Init.DMAContinuousRequests = DISABLE;
+  /* USER CODE END ADC1_Init 0 */
-  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+
-  hadc1.Init.OversamplingMode = DISABLE;
+  ADC_MultiModeTypeDef multimode = {0};
-  if (HAL_ADC_Init(&hadc1) != HAL_OK) {
+  ADC_ChannelConfTypeDef sConfig = {0};
-    Error_Handler();
+
-  }
+  /* USER CODE BEGIN ADC1_Init 1 */
-
+
-  /** Configure the ADC multi-mode
+  /* USER CODE END ADC1_Init 1 */
-   */
+
-  multimode.Mode = ADC_MODE_INDEPENDENT;
+  /** Common config
-  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
+   */
-    Error_Handler();
+  hadc1.Instance = ADC1;
-  }
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
-
+  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
-  /** Configure Regular Channel
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-   */
+  hadc1.Init.GainCompensation = 0;
-  sConfig.Channel = ADC_CHANNEL_14;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
-  sConfig.Rank = ADC_REGULAR_RANK_1;
+  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
-  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  hadc1.Init.LowPowerAutoWait = DISABLE;
-  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  hadc1.Init.ContinuousConvMode = DISABLE;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  hadc1.Init.NbrOfConversion = 1;
-  sConfig.Offset = 0;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-    Error_Handler();
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  }
+  hadc1.Init.DMAContinuousRequests = DISABLE;
-  /* USER CODE BEGIN ADC1_Init 2 */
+  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
-
+  hadc1.Init.OversamplingMode = DISABLE;
-  /* USER CODE END ADC1_Init 2 */
+  if (HAL_ADC_Init(&hadc1) != HAL_OK) {
-}
+    Error_Handler();
-
+  }
-/**
+
- * @brief FDCAN1 Initialization Function
+  /** Configure the ADC multi-mode
- * @param None
+   */
- * @retval None
+  multimode.Mode = ADC_MODE_INDEPENDENT;
- */
+  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
-static void MX_FDCAN1_Init(void) {
+    Error_Handler();
-
+  }
-  /* USER CODE BEGIN FDCAN1_Init 0 */
+
-
+  /** Configure Regular Channel
-  /* USER CODE END FDCAN1_Init 0 */
+   */
-
+  sConfig.Channel = ADC_CHANNEL_14;
-  /* USER CODE BEGIN FDCAN1_Init 1 */
+  sConfig.Rank = ADC_REGULAR_RANK_1;
-
+  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
-  /* USER CODE END FDCAN1_Init 1 */
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  hfdcan1.Instance = FDCAN1;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
+  sConfig.Offset = 0;
-  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
-  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
+    Error_Handler();
-  hfdcan1.Init.AutoRetransmission = DISABLE;
+  }
-  hfdcan1.Init.TransmitPause = DISABLE;
+  /* USER CODE BEGIN ADC1_Init 2 */
-  hfdcan1.Init.ProtocolException = DISABLE;
+
-  hfdcan1.Init.NominalPrescaler = 1;
+  /* USER CODE END ADC1_Init 2 */
-  hfdcan1.Init.NominalSyncJumpWidth = 1;
+}
-  hfdcan1.Init.NominalTimeSeg1 = 2;
+
-  hfdcan1.Init.NominalTimeSeg2 = 2;
+/**
-  hfdcan1.Init.DataPrescaler = 1;
+ * @brief FDCAN1 Initialization Function
-  hfdcan1.Init.DataSyncJumpWidth = 1;
+ * @param None
-  hfdcan1.Init.DataTimeSeg1 = 1;
+ * @retval None
-  hfdcan1.Init.DataTimeSeg2 = 1;
+ */
-  hfdcan1.Init.StdFiltersNbr = 0;
+static void MX_FDCAN1_Init(void) {
-  hfdcan1.Init.ExtFiltersNbr = 0;
+
-  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+  /* USER CODE BEGIN FDCAN1_Init 0 */
-  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
+
-    Error_Handler();
+  /* USER CODE END FDCAN1_Init 0 */
-  }
+
-  /* USER CODE BEGIN FDCAN1_Init 2 */
+  /* USER CODE BEGIN FDCAN1_Init 1 */
-
+
-  /* USER CODE END FDCAN1_Init 2 */
+  /* USER CODE END FDCAN1_Init 1 */
-}
+  hfdcan1.Instance = FDCAN1;
-
+  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
-/**
+  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
- * @brief I2C2 Initialization Function
+  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
- * @param None
+  hfdcan1.Init.AutoRetransmission = ENABLE;
- * @retval None
+  hfdcan1.Init.TransmitPause = ENABLE;
- */
+  hfdcan1.Init.ProtocolException = DISABLE;
-static void MX_I2C2_Init(void) {
+  hfdcan1.Init.NominalPrescaler = 1;
-
+  hfdcan1.Init.NominalSyncJumpWidth = 16;
-  /* USER CODE BEGIN I2C2_Init 0 */
+  hfdcan1.Init.NominalTimeSeg1 = 63;
-
+  hfdcan1.Init.NominalTimeSeg2 = 16;
-  /* USER CODE END I2C2_Init 0 */
+  hfdcan1.Init.DataPrescaler = 1;
-
+  hfdcan1.Init.DataSyncJumpWidth = 4;
-  /* USER CODE BEGIN I2C2_Init 1 */
+  hfdcan1.Init.DataTimeSeg1 = 5;
-
+  hfdcan1.Init.DataTimeSeg2 = 4;
-  /* USER CODE END I2C2_Init 1 */
+  hfdcan1.Init.StdFiltersNbr = 2;
-  hi2c2.Instance = I2C2;
+  hfdcan1.Init.ExtFiltersNbr = 0;
-  hi2c2.Init.Timing = 0x00303D5B;
+  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
-  hi2c2.Init.OwnAddress1 = 64;
+  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
-  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+    Error_Handler();
-  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+  }
-  hi2c2.Init.OwnAddress2 = 0;
+  /* USER CODE BEGIN FDCAN1_Init 2 */
-  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
+
-  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+  /* USER CODE END FDCAN1_Init 2 */
-  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+}
-  if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
+
-    Error_Handler();
+/**
-  }
+ * @brief I2C2 Initialization Function
-
+ * @param None
-  /** Configure Analogue filter
+ * @retval None
-   */
+ */
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
+static void MX_I2C2_Init(void) {
-    Error_Handler();
+
-  }
+  /* USER CODE BEGIN I2C2_Init 0 */
-
+
-  /** Configure Digital filter
+  /* USER CODE END I2C2_Init 0 */
-   */
+
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) {
+  /* USER CODE BEGIN I2C2_Init 1 */
-    Error_Handler();
+
-  }
+  /* USER CODE END I2C2_Init 1 */
-  /* USER CODE BEGIN I2C2_Init 2 */
+  hi2c2.Instance = I2C2;
-
+  hi2c2.Init.Timing = 0x10909CEC;
-  /* USER CODE END I2C2_Init 2 */
+  hi2c2.Init.OwnAddress1 = 64;
-}
+  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-
+  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-/**
+  hi2c2.Init.OwnAddress2 = 0;
- * @brief GPIO Initialization Function
+  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
- * @param None
+  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
- * @retval None
+  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
- */
+  if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
-static void MX_GPIO_Init(void) {
+    Error_Handler();
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  }
-
+
-  /* GPIO Ports Clock Enable */
+  /** Configure Analogue filter
-  __HAL_RCC_GPIOA_CLK_ENABLE();
+   */
-  __HAL_RCC_GPIOB_CLK_ENABLE();
+  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
-
+    Error_Handler();
-  /*Configure GPIO pin Output Level */
+  }
-  HAL_GPIO_WritePin(GPIOA,
+
-                    TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
+  /** Configure Digital filter
-                        LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
+   */
-                        DISP_RESET_Pin,
+  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) {
-                    GPIO_PIN_RESET);
+    Error_Handler();
-
+  }
-  /*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin
+  /* USER CODE BEGIN I2C2_Init 2 */
-                           LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin
+
-   */
+  /* USER CODE END I2C2_Init 2 */
-  GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
+}
-                        LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin |
+
-                        LED_NOE_Pin | DISP_RESET_Pin;
+/**
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ * @brief TIM2 Initialization Function
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+ * @param None
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ * @retval None
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ */
-
+static void MX_TIM2_Init(void) {
-  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
+
-  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
+  /* USER CODE BEGIN TIM2_Init 0 */
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  /* USER CODE END TIM2_Init 0 */
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
-
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  /*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
+  TIM_OC_InitTypeDef sConfigOC = {0};
-  GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
+
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  /* USER CODE BEGIN TIM2_Init 1 */
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
+
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  /* USER CODE END TIM2_Init 1 */
-
+  htim2.Instance = TIM2;
-  /* EXTI interrupt init*/
+  htim2.Init.Prescaler = 79;
-  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+  htim2.Init.Period = 255;
-}
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-/* USER CODE BEGIN 4 */
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) {
-
+    Error_Handler();
-/* USER CODE END 4 */
+  }
-
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-/**
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- * @brief  This function is executed in case of error occurrence.
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
- * @retval None
+    Error_Handler();
- */
+  }
-void Error_Handler(void) {
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  /* USER CODE BEGIN Error_Handler_Debug */
+  sConfigOC.Pulse = 31;
-  /* User can add his own implementation to report the HAL error return state */
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  __disable_irq();
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  while (1) {
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
-  }
+    Error_Handler();
-  /* USER CODE END Error_Handler_Debug */
+  }
-}
+  /* USER CODE BEGIN TIM2_Init 2 */
-
+
-#ifdef USE_FULL_ASSERT
+  /* USER CODE END TIM2_Init 2 */
-/**
+  HAL_TIM_MspPostInit(&htim2);
- * @brief  Reports the name of the source file and the source line number
+}
- *         where the assert_param error has occurred.
+
- * @param  file: pointer to the source file name
+/**
- * @param  line: assert_param error line source number
+ * @brief GPIO Initialization Function
- * @retval None
+ * @param None
- */
+ * @retval None
-void assert_failed(uint8_t *file, uint32_t line) {
+ */
-  /* USER CODE BEGIN 6 */
+static void MX_GPIO_Init(void) {
-  /* User can add his own implementation to report the file name and line
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
-     number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
+
-     line) */
+  /* GPIO Ports Clock Enable */
-  /* USER CODE END 6 */
+  __HAL_RCC_GPIOA_CLK_ENABLE();
-}
+  __HAL_RCC_GPIOB_CLK_ENABLE();
-#endif /* USE_FULL_ASSERT */
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA,
+                    LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | LED_NCLR_Pin |
+                        LED_SER_Pin | LED_NOE_Pin | DISP_RESET_Pin,
+                    GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin LED_NCLR_Pin
+                           LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin */
+  GPIO_InitStruct.Pin = LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
+                        LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
+                        DISP_RESET_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
+  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
+  GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+ * @brief  This function is executed in case of error occurrence.
+ * @retval None
+ */
+void Error_Handler(void) {
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1) {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+
+#ifdef USE_FULL_ASSERT
+/**
+ * @brief  Reports the name of the source file and the source line number
+ *         where the assert_param error has occurred.
+ * @param  file: pointer to the source file name
+ * @param  line: assert_param error line source number
+ * @retval None
+ */
+void assert_failed(uint8_t* file, uint32_t line) {
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line
+     number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
+     line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

Core/Src/rpi.c

@@ -1,9 +1,12 @@
 #include "rpi.h"
+
 #include "main.h"
 #include "state.h"
+
 #include "stm32g4xx_hal_def.h"
 #include "stm32g4xx_hal_gpio.h"
 #include "stm32g4xx_hal_i2c.h"
+
 #include <stdint.h>
 
 uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];
@@ -12,10 +15,10 @@ uint8_t i2c_tx_len;
 RPiI2CState rpi_i2c_state;
 size_t rpi_num_polls;
 
-static I2C_HandleTypeDef *bus;
+static I2C_HandleTypeDef* bus;
 static uint8_t current_command;
 
-void rpi_init(I2C_HandleTypeDef *handle) {
+void rpi_init(I2C_HandleTypeDef* handle) {
   bus = handle;
   rpi_i2c_state = RPI_I2C_IDLE;
   rpi_num_polls = 0;
@@ -51,7 +54,7 @@ void rpi_update_tx_buffer_ami() {
   i2c_tx_buf[1] = stw_state.view_state.ami.current_mission;
 }
 
-void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
+void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef* handle) {
   switch (rpi_i2c_state) {
   case RPI_I2C_SENDING_DATA_SIZE:
     if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len,
@@ -70,7 +73,7 @@ void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
   }
 }
 
-void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
+void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef* handle) {
   if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) {
     // TODO: How do we handle this?
     return;
@@ -81,7 +84,7 @@ void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
   rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE;
 }
 
-void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection,
+void HAL_I2C_AddrCallback(I2C_HandleTypeDef* handle, uint8_t TransferDirection,
                           uint16_t AddrMatchCode) {
   if (handle != bus) {
     HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET);
@@ -116,7 +119,7 @@ void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection,
   }
 }
 
-void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) {
+void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef* handle) {
   if (handle != bus) {
     return;
   }
@@ -124,4 +127,4 @@ void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) {
   if (rpi_i2c_state == RPI_I2C_IDLE) {
     HAL_I2C_EnableListen_IT(bus);
   }
-}
+}

Core/Src/state.c

@@ -5,4 +5,4 @@ STWState stw_state;
 void state_init() {
   stw_state.view = VIEW_MISSION_SELECT;
   stw_state.view_state.mission_select.selection = MISSION_ACCELERATION;
-}
+}

Core/Src/stm32g4xx_hal_msp.c

@@ -57,7 +57,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                    /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -192,6 +194,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -221,6 +226,8 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* FDCAN1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */
@@ -310,6 +317,76 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 
 }
 
+/**
+* @brief TIM_PWM MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_pwm: TIM_PWM handle pointer
+* @retval None
+*/
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+
+}
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA0     ------> TIM2_CH1
+    */
+    GPIO_InitStruct.Pin = TOP_PWM_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(TOP_PWM_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+  /* USER CODE END TIM2_MspPostInit 1 */
+  }
+
+}
+/**
+* @brief TIM_PWM MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_pwm: TIM_PWM handle pointer
+* @retval None
+*/
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/stm32g4xx_it.c

@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern FDCAN_HandleTypeDef hfdcan1;
 extern I2C_HandleTypeDef hi2c2;
 /* USER CODE BEGIN EV */
 
@@ -198,6 +199,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32g4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles FDCAN1 interrupt 0.
+  */
+void FDCAN1_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 1 */
+}
+
 /**
   * @brief This function handles I2C2 event interrupt / I2C2 wake-up interrupt through EXTI line 24.
   */

Core/Src/user_inputs.c

@@ -3,30 +3,60 @@
 #include "events.h"
 #include "main.h"
 #include "state.h"
+#include "vehicle.h"
+
+#include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
 
+#include <stdint.h>
+
+#define MIN_PRESS_INTERVAL 100
+
 void HAL_GPIO_EXTI_Callback(uint16_t pin) {
+  static uint32_t last_presses[4] = {0, 0, 0, 0};
+
   Event ev;
 
   GPIO_PinState state = HAL_GPIO_ReadPin(GPIOB, pin);
   ev.type = state;
+  uint32_t now = HAL_GetTick();
   switch (pin) {
-  case BTN0_Pin:
+  case BTN0_Pin: {
+    if (now - last_presses[0] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[0] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_PREV;
     break;
-  case BTN1_Pin:
+  }
+  case BTN1_Pin: {
+    if (now - last_presses[1] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[1] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_R2D;
     break;
-  case BTN2_Pin:
+  }
+  case BTN2_Pin: {
+    if (now - last_presses[2] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[2] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_OK;
     break;
-  case BTN3_Pin:
+  }
+  case BTN3_Pin: {
+    if (now - last_presses[3] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[3] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_NEXT;
     break;
+  }
   default:
     Error_Handler();
   }
@@ -34,7 +64,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t pin) {
   event_push(&ev);
 }
 
-void handle_button_press(const ButtonPressEvent *ev) {
+void handle_button_press(const ButtonPressEvent* ev) {
   switch (stw_state.view) {
   case VIEW_MISSION_SELECT:
     handle_button_press_mission_select(ev);
@@ -46,10 +76,10 @@ void handle_button_press(const ButtonPressEvent *ev) {
   }
 }
 
-void handle_button_press_mission_select(const ButtonPressEvent *ev) {
+void handle_button_press_mission_select(const ButtonPressEvent* ev) {
   switch (*ev) {
   case BTN_PRESS_PREV: {
-    Mission *selection = &stw_state.view_state.mission_select.selection;
+    Mission* selection = &stw_state.view_state.mission_select.selection;
     if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) {
       *selection = MISSION_MANUAL;
     } else {
@@ -60,12 +90,10 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
   case BTN_PRESS_R2D:
     break;
   case BTN_PRESS_OK:
-    stw_state.view_state.ami.current_mission =
+    vehicle_send_mission_select(stw_state.view_state.mission_select.selection);
-        stw_state.view_state.mission_select.selection;
-    stw_state.view = VIEW_AMI;
     break;
   case BTN_PRESS_NEXT: {
-    Mission *selection = &stw_state.view_state.mission_select.selection;
+    Mission* selection = &stw_state.view_state.mission_select.selection;
     if (*selection == MISSION_MANUAL) {
       *selection = MISSION_ACCELERATION;
     } else {
@@ -74,4 +102,17 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
     break;
   }
   }
-}
+}
+
+ButtonsState get_buttons_state() {
+  ButtonsState result;
+  result.left = HAL_GPIO_ReadPin(BTN0_GPIO_Port, BTN0_Pin);
+  result.right = HAL_GPIO_ReadPin(BTN3_GPIO_Port, BTN3_Pin);
+  result.r2d = HAL_GPIO_ReadPin(BTN1_GPIO_Port, BTN1_Pin);
+  result.enter = HAL_GPIO_ReadPin(BTN2_GPIO_Port, BTN2_Pin);
+  result.enc0a = HAL_GPIO_ReadPin(ENC0A_GPIO_Port, ENC0A_Pin);
+  result.enc0b = HAL_GPIO_ReadPin(ENC0B_GPIO_Port, ENC0B_Pin);
+  result.enc1a = HAL_GPIO_ReadPin(ENC1A_GPIO_Port, ENC1A_Pin);
+  result.enc1b = HAL_GPIO_ReadPin(ENC1B_GPIO_Port, ENC1B_Pin);
+  return result;
+}

Core/Src/vehicle.c

@@ -0,0 +1,127 @@
+#include "vehicle.h"
+
+#include "main.h"
+#include "state.h"
+#include "user_inputs.h"
+
+#include "stm32g4xx_hal_def.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+FDCAN_HandleTypeDef* can;
+
+void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data);
+
+void vehicle_init(FDCAN_HandleTypeDef* handle) {
+  can = handle;
+
+  // RX Filter
+  FDCAN_FilterTypeDef filter;
+  filter.IdType = FDCAN_STANDARD_ID;
+  filter.FilterIndex = 0;
+  filter.FilterType = FDCAN_FILTER_MASK;
+  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+  filter.FilterID1 = CAN_ID_AS_MISSION_FB;
+  filter.FilterID2 = filter.FilterID1;
+  if (HAL_FDCAN_ConfigFilter(can, &filter) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Global filter: Filter all remote frames with STD & EXT ID, reject non
+  // matching frames with STD & EXT ID
+
+  // TODO: What does that mean?
+  if (HAL_FDCAN_ConfigGlobalFilter(can, FDCAN_REJECT, FDCAN_REJECT,
+                                   FDCAN_FILTER_REMOTE,
+                                   FDCAN_FILTER_REMOTE) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Start FDCAN module
+  if (HAL_FDCAN_Start(can) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Enable RX interrupt
+  if (HAL_FDCAN_ActivateNotification(can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) !=
+      HAL_OK) {
+    Error_Handler();
+  }
+}
+
+HAL_StatusTypeDef vehicle_send_mission_select(Mission mission) {
+  // TODO: Automatically resend this until it's acknowledged
+  FDCAN_TxHeaderTypeDef header;
+  header.Identifier = CAN_ID_MISSION_SELECT;
+  header.IdType = FDCAN_STANDARD_ID;
+  header.TxFrameType = FDCAN_DATA_FRAME;
+  header.DataLength = FDCAN_DLC_BYTES_1;
+  header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+  header.BitRateSwitch = FDCAN_BRS_OFF;
+  header.FDFormat = FDCAN_CLASSIC_CAN;
+  header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+  header.MessageMarker = 0;
+
+  uint8_t data[1];
+  data[0] = mission;
+  return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
+}
+
+HAL_StatusTypeDef vehicle_send_buttons() {
+  FDCAN_TxHeaderTypeDef header;
+  header.Identifier = CAN_ID_BUTTONS;
+  header.IdType = FDCAN_STANDARD_ID;
+  header.TxFrameType = FDCAN_DATA_FRAME;
+  header.DataLength = FDCAN_DLC_BYTES_1;
+  header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+  header.BitRateSwitch = FDCAN_BRS_OFF;
+  header.FDFormat = FDCAN_CLASSIC_CAN;
+  header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+  header.MessageMarker = 0;
+
+  ButtonsState buttons = get_buttons_state();
+  uint8_t data[1];
+  data[0] = (buttons.left ? CAN_BUTTONS_LEFT : 0) |
+            (buttons.right ? CAN_BUTTONS_RIGHT : 0) |
+            (buttons.r2d ? CAN_BUTTONS_R2D : 0) |
+            (buttons.enter ? CAN_BUTTONS_ENTER : 0);
+  return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
+}
+
+/* BEGIN CAN MESSAGE HANDLERS { */
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
+                               uint32_t interrupt_flags) {
+  if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
+    return;
+  }
+
+  static FDCAN_RxHeaderTypeDef header;
+  static uint8_t data[64];
+
+  if (HAL_FDCAN_GetRxMessage(can, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
+    Error_Handler();
+  }
+
+  if (header.IdType != FDCAN_STANDARD_ID) {
+    return;
+  }
+
+  switch (header.Identifier) {
+  case CAN_ID_AS_MISSION_FB:
+    handle_as_mission_fb(&header, data);
+    break;
+  }
+}
+
+void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data) {
+  Mission mission_fb = data[0];
+  if (mission_fb == MISSION_NONE) {
+    return;
+  }
+
+  stw_state.view_state.ami.current_mission = mission_fb;
+
+  stw_state.view = VIEW_AMI;
+}
+
+/* } END CAN MESSAGE HANDLERS */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 00:49:24 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sun May 29 02:01:26 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32Make.make

@@ -37,6 +37,7 @@ BUILD_DIR = build
 # C sources
 C_SOURCES =  \
 Core/Src/events.c \
+Core/Src/leds.c \
 Core/Src/main.c \
 Core/Src/rpi.c \
 Core/Src/state.c \
@@ -44,6 +45,7 @@ Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/stm32g4xx_it.c \
 Core/Src/system_stm32g4xx.c \
 Core/Src/user_inputs.c \
+Core/Src/vehicle.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c \
@@ -152,7 +154,8 @@ CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-
 CXXFLAGS = $(MCU) $(CXX_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -feliminate-unused-debug-types
 
 ifeq ($(DEBUG), 1)
-CFLAGS += -g -gdwarf-2
+CFLAGS += -g -gdwarf -ggdb
+CXXFLAGS += -g -gdwarf -ggdb
 endif
 
 # Add additional flags
@@ -240,6 +243,12 @@ erase: $(BUILD_DIR)/$(TARGET).elf
 #######################################
 clean:
 	-rm -fR $(BUILD_DIR)
+
+#######################################
+# custom makefile rules
+#######################################
+
+
 	
 #######################################
 # dependencies

steering-wheel-stm.ioc

@@ -6,10 +6,23 @@ ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
 ADC1.master=1
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.DataSyncJumpWidth=4
+FDCAN1.DataTimeSeg1=5
+FDCAN1.DataTimeSeg2=4
+FDCAN1.FrameFormat=FDCAN_FRAME_FD_BRS
+FDCAN1.IPParameters=StdFiltersNbr,Mode,FrameFormat,AutoRetransmission,TransmitPause,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2
+FDCAN1.Mode=FDCAN_MODE_NORMAL
+FDCAN1.NominalSyncJumpWidth=16
+FDCAN1.NominalTimeSeg1=63
+FDCAN1.NominalTimeSeg2=16
+FDCAN1.StdFiltersNbr=2
+FDCAN1.TransmitPause=ENABLE
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
-I2C2.IPParameters=OwnAddress
+I2C2.IPParameters=OwnAddress,Timing
 I2C2.OwnAddress=0x20
+I2C2.Timing=0x10909CEC
 KeepUserPlacement=false
 Mcu.CPN=STM32G441CBT6
 Mcu.Family=STM32G4
@@ -19,7 +32,8 @@ Mcu.IP2=I2C2
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
 Mcu.IP5=SYS
-Mcu.IPNb=6
+Mcu.IP6=TIM2
+Mcu.IPNb=7
 Mcu.Name=STM32G441CBTx
 Mcu.Package=LQFP48
 Mcu.Pin0=PA0
@@ -56,6 +70,7 @@ MxDb.Version=DB.6.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.I2C2_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -69,7 +84,7 @@ NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 PA0.GPIOParameters=GPIO_Label
 PA0.GPIO_Label=TOP_PWM
 PA0.Locked=true
-PA0.Signal=GPIO_Output
+PA0.Signal=S_TIM2_CH1
 PA1.GPIOParameters=GPIO_Label
 PA1.GPIO_Label=LOGO_PWM
 PA1.Locked=true
@@ -184,46 +199,49 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true
-RCC.AHBFreq_Value=16000000
+RCC.ADC12Freq_Value=80000000
-RCC.APB1Freq_Value=16000000
+RCC.AHBFreq_Value=80000000
-RCC.APB1TimFreq_Value=16000000
+RCC.APB1Freq_Value=80000000
-RCC.APB2Freq_Value=16000000
+RCC.APB1TimFreq_Value=80000000
-RCC.APB2TimFreq_Value=16000000
+RCC.APB2Freq_Value=80000000
+RCC.APB2TimFreq_Value=80000000
 RCC.CRSFreq_Value=48000000
-RCC.CortexFreq_Value=16000000
+RCC.CortexFreq_Value=80000000
 RCC.EXTERNAL_CLOCK_VALUE=12288000
-RCC.FCLKCortexFreq_Value=16000000
+RCC.FCLKCortexFreq_Value=80000000
-RCC.FDCANFreq_Value=16000000
+RCC.FDCANFreq_Value=80000000
 RCC.FamilyName=M
-RCC.HCLKFreq_Value=16000000
+RCC.HCLKFreq_Value=80000000
 RCC.HSE_VALUE=8000000
 RCC.HSI48_VALUE=48000000
 RCC.HSI_VALUE=16000000
-RCC.I2C1Freq_Value=16000000
+RCC.I2C1Freq_Value=80000000
-RCC.I2C2Freq_Value=16000000
+RCC.I2C2Freq_Value=80000000
-RCC.I2C3Freq_Value=16000000
+RCC.I2C3Freq_Value=80000000
-RCC.I2SFreq_Value=16000000
+RCC.I2SFreq_Value=80000000
-RCC.IPParameters=AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
-RCC.LPTIM1Freq_Value=16000000
+RCC.LPTIM1Freq_Value=80000000
-RCC.LPUART1Freq_Value=16000000
+RCC.LPUART1Freq_Value=80000000
 RCC.LSCOPinFreq_Value=32000
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO1PinFreq_Value=16000000
-RCC.PLLPoutputFreq_Value=64000000
+RCC.PLLN=10
-RCC.PLLQoutputFreq_Value=64000000
+RCC.PLLPoutputFreq_Value=80000000
-RCC.PLLRCLKFreq_Value=64000000
+RCC.PLLQoutputFreq_Value=80000000
-RCC.PWRFreq_Value=16000000
+RCC.PLLRCLKFreq_Value=80000000
-RCC.RNGFreq_Value=64000000
+RCC.PWRFreq_Value=80000000
-RCC.SAI1Freq_Value=16000000
+RCC.RNGFreq_Value=80000000
-RCC.SYSCLKFreq_VALUE=16000000
+RCC.SAI1Freq_Value=80000000
-RCC.USART1Freq_Value=16000000
+RCC.SYSCLKFreq_VALUE=80000000
-RCC.USART2Freq_Value=16000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.USART3Freq_Value=16000000
+RCC.USART1Freq_Value=80000000
-RCC.USBFreq_Value=64000000
+RCC.USART2Freq_Value=80000000
+RCC.USART3Freq_Value=80000000
+RCC.USBFreq_Value=80000000
 RCC.VCOInputFreq_Value=16000000
-RCC.VCOOutputFreq_Value=128000000
+RCC.VCOOutputFreq_Value=160000000
 SH.GPXTI12.0=GPIO_EXTI12
 SH.GPXTI12.ConfNb=1
 SH.GPXTI13.0=GPIO_EXTI13
@@ -232,6 +250,13 @@ SH.GPXTI14.0=GPIO_EXTI14
 SH.GPXTI14.ConfNb=1
 SH.GPXTI15.0=GPIO_EXTI15
 SH.GPXTI15.ConfNb=1
+SH.S_TIM2_CH1.0=TIM2_CH1,PWM Generation1 CH1
+SH.S_TIM2_CH1.ConfNb=1
+TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM2.IPParameters=Channel-PWM Generation1 CH1,Prescaler,PeriodNoDither,PulseNoDither_1
+TIM2.PeriodNoDither=255
+TIM2.Prescaler=79
+TIM2.PulseNoDither_1=31
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick